CN111789746B - Back connection device for lower limb rehabilitation robot - Google Patents
Back connection device for lower limb rehabilitation robot Download PDFInfo
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- CN111789746B CN111789746B CN202010490300.8A CN202010490300A CN111789746B CN 111789746 B CN111789746 B CN 111789746B CN 202010490300 A CN202010490300 A CN 202010490300A CN 111789746 B CN111789746 B CN 111789746B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 239000000725 suspension Substances 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims description 2
- 230000001070 adhesive effect Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 210000002414 leg Anatomy 0.000 description 51
- 230000033001 locomotion Effects 0.000 description 7
- 238000012549 training Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 208000035657 Abasia Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000025966 Neurological disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
- A61H2201/1626—Holding means therefor
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明提出一种下肢康复机器人用背部连接装置，包括与下肢康复机器人连相连接的底层结构、设置在底层结构中且可上下移动的中间结构、安装在中间结构上的连接结构以及设置在连接结构上远离底层结构一侧的伸出长度可调节的上靠背结构和下靠背结构，所述底层结构中部竖向设置有丝杠、所述丝杠顶部设置有蜗轮蜗杆副且其中的第一蜗轮与丝杠同轴、蜗杆与丝杠垂直且其两端设置有第一手轮，丝杠上套合有与丝杠相匹配的运动块，所述中间结构与运动块固定连接。本发明解决了下肢康复机器人左右腿固定机构上下和左右调节不灵活、靠背结构支承位置调节不便的问题。
The present invention proposes a back connection device for a lower limb rehabilitation robot, comprising a bottom structure connected to the lower limb rehabilitation robot, an intermediate structure arranged in the bottom structure and movable up and down, a connection structure installed on the intermediate structure, and an upper backrest structure and a lower backrest structure with adjustable extension length arranged on the connection structure away from the bottom structure, a lead screw is vertically arranged in the middle of the bottom structure, a worm gear pair is arranged on the top of the lead screw, and the first worm gear is coaxial with the lead screw, the worm is perpendicular to the lead screw and a first hand wheel is arranged at both ends, a moving block matching the lead screw is sleeved on the lead screw, and the intermediate structure is fixedly connected to the moving block. The present invention solves the problems of inflexible up and down and left and right adjustment of the left and right leg fixing mechanism of the lower limb rehabilitation robot and inconvenient adjustment of the supporting position of the backrest structure.
Description
Technical Field
The invention relates to the technical field of rehabilitation robot equipment, in particular to a back connecting device for a lower limb rehabilitation robot.
Background
It is counted that only 3% to 10% of patients suffering from disabled neurological diseases, such as stroke, spinal cord injury, trauma, guillain-barre etc. can resume independent walking for 50m 3 years after the disease. For many patients who are temporarily unable to walk for various reasons, restoring walking is a first wish, and is also an important content of rehabilitation research. The weight-reducing walking training is a new rehabilitation treatment technology aiming at lower limb dysfunction and improving walking ability. Starting from the eighties of the last century abroad, the method has been widely applied and developed in China in the last decade, and is one of the hot spots of rehabilitation medical research in recent years.
The exoskeleton type lower limb rehabilitation robot taking the weight-reducing walking training as a core is generated based on the concept of the weight-reducing walking training, wherein a back connecting device of the lower limb rehabilitation robot receives a weight-reducing control console and the leg parts and back supporting structures of the exoskeleton of a human body, the left leg part and the right leg part of the robot are fixed through a left leg part fixing mechanism and a right leg part fixing mechanism in the back connecting device, and the connection between the connecting device and the body structure of the lower limb rehabilitation robot is realized through a bottom frame structure.
The existing lower limb rehabilitation robot is inconvenient in adjustment of the distance between the left leg and the right leg of the leg exoskeleton after the leg structure is connected with the robot body frame, can not flexibly adapt to actions such as skeleton structures of legs of patients with different body shapes and clamping movement, can not conveniently and quickly realize lifting adjustment of the height of the leg fixing structure of the robot in real time, and in addition, the physical comfort degree of the patient in rehabilitation treatment and the position of the backrest structure are greatly related, if the backrest structure is too protruding, forward compression is formed on the back of the patient, if the backrest structure is too concave, walking training of the legs is not facilitated, so that how to reasonably meet the comfort degree and the convenience degree of the patient training on the structure of the back connecting device is very important.
The Chinese patent application CN201810224100.0 refers to a human body size safety matching device facing a lower limb rehabilitation robot, which adopts the design of a hand wheel, a worm gear reducer and a screw rod, transmits the motion and power of a hand wheel shaft and the screw rod in two staggered directions, can quickly adjust a suspension system to enable a mechanism to fit the buttocks of a person, is convenient for a rehabilitation doctor to operate, realizes the adjustment of the back backrest position matching device in the front-back direction and the upper-lower direction, but lacks the adjustment of the left leg fixing mechanism, the right leg fixing mechanism and the backrest structure height, can not flexibly adapt to the wearing requirements of rehabilitation patients with different heights when in use, needs to adjust the height of the whole rehabilitation robot to adapt to the height of the patient when in use, is inconvenient to use, and lacks the guiding and stability of a mechanism for adjusting the distance between the left leg and the right leg, and is easy to generate the problem of loosening dislocation of the mechanism when the adjustment or the rehabilitation robot motion.
Disclosure of Invention
The invention provides a back connecting device for a lower limb rehabilitation robot, which aims to solve the problems that a left and right leg fixing mechanism of the lower limb rehabilitation robot is inflexible to adjust up and down and left and right and a back structure supporting position is inconvenient to adjust in the prior art.
The utility model provides a recovered robot of low limbs is with back connecting device, includes the substructure that links to be connected with the recovered robot of low limbs, sets up in the substructure and intermediate structure that can reciprocate, installs connection structure on intermediate structure and set up on connection structure keep away from the last back structure and the lower back structure of the adjustable extension of substructure one side, the intermediate structure middle part is vertical to be provided with the lead screw top is provided with worm gear pair and wherein first worm wheel and lead screw are coaxial, worm and lead screw are perpendicular and its both ends are provided with first hand wheel, the cover has the piece of motion with lead screw assorted on the lead screw, intermediate structure and piece of motion fixed connection.
Further, the upper end and the lower end of the screw rod are rotatably connected with the bottom structure through bearings, guide rods parallel to the screw rod are arranged on the two sides of the screw rod, and the moving block penetrates through the guide rods and is in sliding connection with the guide rods.
Further, the intermediate structure comprises a panel fixedly connected with the moving block, a sliding block mechanism arranged on the left side and the right side of the panel and a pulling block arranged on the top of the panel, two first guide rails are vertically arranged in the bottom layer structure, and the sliding block mechanism is in sliding connection with the first guide rails.
Further, pulleys are arranged at the top end and the back of the bottom structure, counterweight ropes are arranged through the pulleys at the back and the top end of the bottom structure in sequence, and the counterweight ropes are connected with the pull blocks.
Further, the connecting structure comprises a frame fixedly connected with the middle structure, a first adjusting rod provided with threads is transversely erected on the upper portion of the frame, the first adjusting rod is rotationally connected with the frame, second hand wheels are arranged at two ends of the first adjusting rod, a left leg fixing mechanism and a right leg fixing mechanism which are in threaded connection with the first adjusting rod are arranged below the first adjusting rod, the left leg fixing mechanism and the right leg fixing mechanism are in sliding connection with a second guide rail arranged in the frame, and threads on the left side and the right side of the first adjusting rod are opposite in rotation direction;
the utility model discloses a lower backrest structure is characterized in that a vertical upward upright rod is arranged at the top end of the frame, an upper backrest structure is arranged on the upright rod, a lower backrest adjusting assembly connected with the lower backrest structure is arranged at the bottom end of the frame, the lower backrest adjusting assembly comprises a second adjusting rod which is transversely connected with the frame in a rotating way, an adjusting box which is sleeved on the second adjusting rod and fixedly connected with the frame, a second worm wheel which forms a worm gear pair with the second adjusting rod and a vertical gear which is coaxial with the second worm wheel are arranged in the adjusting box, a lower backrest structure mounting hole is formed at the gear, and a third hand wheel is arranged at two ends of the second adjusting rod.
Further, go up the back structure and include the back board, set up perpendicularly in the first dead lever at back board rear, adjustable first dead lever in its internal extension's connecting block, set up on the connecting block and with pole setting assorted last back structure mounting hole and set up respectively in first dead lever and connecting block fixed part and pole setting and connecting block fixed part's fixed locking piece structure.
Further, a sticky net is arranged in the middle of the upper backboard, and strap rings are arranged around the upper backboard.
Further, the lower backrest structure comprises a second fixing rod provided with threads and arranged on the side surface in the lower backrest structure mounting hole, and a lower backrest plate connected with the second fixing rod, wherein the side surface provided with the threads of the second fixing rod is meshed with the gear.
Further, an adhesive net is arranged in the middle of the lower back plate, a positioning rod is arranged on the lower back plate parallel to the second fixing rod, and the positioning rod is equal to the second fixing rod in length and is inserted into the adjusting box.
Further, an upper limit structure and a lower limit structure are arranged on the side face of the bottom layer structure.
Compared with the prior art, the invention has the beneficial effects that:
According to the back connecting device for the lower limb rehabilitation robot, through the arrangement of the screw rod, the first worm wheel, the worm, the first hand wheel and the moving block in the bottom structure, the position adjustment in the upper and lower directions of the middle structure and the connecting structure connected with the moving block is realized, wherein the first hand wheel is rotated to enable the worm to enable the screw rod to rotate through the first worm wheel, and further the adjustment of the upper and lower positions of the moving block on the screw rod is realized, namely the upper and lower position adjustment of the left leg fixing mechanism and the right leg fixing mechanism arranged on the connecting structure is realized, so that the device is suitable for the height positions of the body and the legs of a rehabilitation patient;
The left leg fixing mechanism and the right leg fixing mechanism can be adjusted in the left-right direction through the arrangement of the first adjusting rod in the connecting structure and the left leg fixing mechanism and the right leg fixing mechanism which are in threaded connection with the first adjusting rod, so that the distance between the legs of a rehabilitation patient is adapted, wherein the first adjusting rod is rotated through rotating the second hand wheel, and the left leg fixing mechanism and the right leg fixing mechanism move in the directions far away from each other or close to each other, so that the adjusting process is flexible, convenient and real-time;
The height of the upper backrest structure on the vertical rod can be adjusted, and the extension length of the upper backrest structure in the direction of the first fixed rod can be adjusted through the arrangement of the fixed locking block structure at the fixed position of the first fixed rod and the connecting block and the fixed position of the vertical rod and the connecting block;
the second fixing rod is arranged in the mounting hole of the upper backrest structure and the lower backrest structure of the adjusting box through the second adjusting rod and the adjusting box, so that the extension length of the lower backrest structure in the direction of the second fixing rod can be adjusted.
Drawings
Fig. 1 is a schematic general structural view of a back connection device for a lower limb rehabilitation robot according to the present invention.
Fig. 2 is a schematic side view showing the general structure of a back connection device for a lower limb rehabilitation robot according to the present invention.
Fig. 3 is an exploded structural view of a back connection device for a lower limb rehabilitation robot according to the present invention.
Fig. 4 is a schematic view showing the bottom structure of a back connection device for a lower limb rehabilitation robot according to the present invention.
Fig. 5 is a schematic diagram showing an intermediate structure of a back connection device for a lower limb rehabilitation robot according to the present invention.
Fig. 6 is a schematic view of a connection structure of a back connection device for a lower limb rehabilitation robot according to the present invention.
Fig. 7 is a schematic view of an upper backrest structure of a back connection device for a lower limb rehabilitation robot according to the present invention.
Fig. 8 is a schematic diagram of an upper backrest structure of a back connection device for a lower limb rehabilitation robot according to the second embodiment of the present invention.
Fig. 9 is a schematic view of the lower back structure of the back connection device for the lower limb rehabilitation robot of the present invention.
Fig. 10 is a schematic view of the structure of the second adjusting lever and the inside of the adjusting box of the back connecting device for the lower limb rehabilitation robot.
The reference numeral 1 is a screw rod, 2 is a first hand wheel, 3 is a moving block, 4 is a guide rod, 5 is a panel, 6 is a sliding block mechanism, 7 is a pulling block, 8 is a first guide rail, 9 is a frame, 10 is a first adjusting rod, 11 is a second hand wheel, 12 is a left leg fixing mechanism, 13 is a right leg fixing mechanism, 14 is a second guide rail, 15 is a vertical rod, 16 is a second adjusting rod, 17 is an adjusting box, 18 is a lower backrest structure mounting hole, 19 is an upper backrest plate, 20 is a first fixing rod, 21 is a connecting block, 22 is an upper backrest structure mounting hole, 23 is a fixed locking block structure, 24 is a second fixing rod, 25 is a lower backrest plate, 26 is a second worm wheel, 27 is a sticking net, 28 is a lacing ring, 29 is a positioning rod, 30 is an upper and lower limiting structure, 31 is a third hand wheel, 32 is a worm, 34 is a pulley, 35 is a counterweight rope, and 36 is a gear.
Detailed Description
The invention is further illustrated by the following description of specific embodiments in conjunction with the accompanying drawings:
As shown in fig. 1-10, a back connecting device for a lower limb rehabilitation robot comprises a bottom layer structure connected with the lower limb rehabilitation robot, a middle structure which is arranged in the bottom layer structure and can move up and down, a connecting structure which is arranged on the middle structure, and an upper backrest structure and a lower backrest structure which are arranged on the connecting structure and are far away from one side of the bottom layer structure and have adjustable extension length, wherein a screw rod 1 is vertically arranged in the middle of the bottom layer structure, a worm and gear pair is arranged at the top of the screw rod 1, a first worm wheel 32 is coaxial with the screw rod 1, a worm 33 is perpendicular to the screw rod 1, two ends of the worm 33 are provided with first hand wheels 2, a moving block 3 matched with the screw rod 1 is sleeved on the screw rod 1, and the middle structure is fixedly connected with the moving block 3.
Specifically, the upper end and the lower end of the screw rod 1 are rotatably connected with a bottom structure through bearings, guide rods 4 parallel to the screw rod are arranged on the two sides of the screw rod 1, the moving block 3 penetrates through the guide rods 4 and is in sliding connection with the guide rods, the middle structure comprises a panel 5 fixedly connected with the moving block 3, sliding block mechanisms 6 arranged on the left side and the right side of the panel 5 and a pulling block 7 arranged on the top of the panel 5, two first guide rails 8 are vertically arranged in the bottom structure, the sliding block mechanisms 6 are in sliding connection with the first guide rails 8, pulleys 34 are arranged on the top and the back of the bottom structure, counterweight ropes 35 are sequentially arranged through the pulleys 34 on the back and the top of the bottom structure, the counterweight ropes 35 are connected with the pulling block 7, and an upper limiting structure 30 and a lower limiting structure 30 are arranged on the side face of the bottom structure.
The connecting structure comprises a frame 9 fixedly connected with the middle structure, a first adjusting rod 10 provided with threads is transversely erected on the upper part of the frame 9, the first adjusting rod 10 is rotationally connected with the frame 9, second hand wheels 11 are arranged at two ends of the first adjusting rod 10, a left leg fixing mechanism 12 and a right leg fixing mechanism 13 which are in threaded connection with the first adjusting rod 10 are arranged below the first adjusting rod 10, the left leg fixing mechanism 12 and the right leg fixing mechanism 13 are in sliding connection with a second guide rail 14 arranged in the frame 9, and threads on the left side and the right side of the first adjusting rod 10 are opposite in rotation direction;
The top of the frame 9 is provided with a vertical upright rod 15, the upper backrest structure is arranged on the upright rod 15, the bottom end of the frame 9 is provided with a lower backrest adjusting assembly connected with the lower backrest structure, the lower backrest adjusting assembly comprises a second adjusting rod 16 which is transversely connected with the frame 9 in a rotating way, an adjusting box 17 which is sleeved on the second adjusting rod 16 and fixedly connected with the frame 9, a second worm wheel 26 which forms a worm gear pair with the second adjusting rod 16 and a vertical gear 36 which is coaxial with the second worm wheel 26 are arranged in the adjusting box 17, a lower backrest structure mounting hole 18 is formed in the gear 36, and two ends of the second adjusting rod 16 are provided with third hand wheels 31.
The upper backrest structure comprises an upper backrest plate 19, a first fixing rod 20 vertically arranged at the rear of the upper backrest plate 19, a connecting block 21 capable of adjusting the extending length of the first fixing rod 20 in the upper backrest plate, an upper backrest structure mounting hole 22 arranged on the connecting block 21 and matched with the upright 15, and a fixing locking block structure 23 respectively arranged at the fixing position of the first fixing rod 20 and the connecting block 21 and the fixing position of the upright 15 and the connecting block 21.
The middle part of the upper back plate 19 is provided with a sticky net 27, and the periphery of the upper back plate 19 is provided with a binding band ring 28.
The lower backrest structure comprises a second fixing rod 24 provided with threads on the side surface in the lower backrest structure mounting hole 18 and a lower backrest plate 25 connected with the second fixing rod 24, and the side surface provided with threads of the second fixing rod 24 is meshed with the gear 36.
The middle part of the lower back plate 25 is provided with a sticking net 27, the lower back plate 25 parallel to the second fixing rod 24 is provided with a positioning rod 29, and the positioning rod 29 is equal in length with the second fixing rod 24 and is inserted into the adjusting box 17.
When the device is specifically used, the bottom structure in the back connecting device for the lower limb rehabilitation robot is connected with the robot body, the counterweight rope 35 penetrating through the pulley 34 is connected with the suspension mechanism to form the lower limb rehabilitation robot, the back connecting device is mainly used for adjusting the positions of the left leg fixing mechanism 12, the right leg fixing mechanism 13, the upper backrest structure and the lower backrest structure, so that the positions of the structures are adapted to the skeleton structure of a rehabilitation patient, and the specific adjusting process is as follows:
Through the arrangement of the screw 1, the first worm wheel 32, the worm 33, the first hand wheel 2 and the moving block 3 in the bottom structure, the position adjustment in the up-down direction of the middle structure and the connecting structure connected with the moving block 3 is realized, the first hand wheel 2 is rotated to enable the worm 33 to drive the first worm wheel 32 to move so as to enable the screw 1 to rotate, the moving block 3 moves in the up-down direction on the screw 1, the moving block 3 drives the middle structure and the connecting structure on the middle structure to move up and down, the direction of the up-down movement driven by the moving block 3 is guided and stabilized by the cooperation sliding of the middle structure and the first guide rail 8 and the sliding block mechanism 6 in the bottom structure, the connecting structure is enabled to realize the up-down adjustable movement, namely the up-down position adjustment of the left leg fixing mechanism 12 and the right leg fixing mechanism 13 arranged on the connecting structure is realized, and the height position of the body and legs of a rehabilitation patient is adapted.
Through the setting of first regulation pole 10 and left leg fixed establishment 12 and right leg fixed establishment 13 rather than threaded connection among the connection structure, make left leg fixed establishment 12 and right leg fixed establishment 13 can carry out left and right direction's regulation to this adaptation rehabilitation patient's leg interval, wherein make first regulation pole 10 rotate through rotatory second hand wheel 11, because the screw thread of the left and right sides on the first regulation pole 10 revolves to opposite, left leg fixed establishment 12 and right leg fixed establishment 13 move to the direction that is kept away from each other or is close to each other, have realized the regulation of left leg fixed establishment 12 and right leg fixed establishment 13 interval promptly, but the accommodation process is nimble convenient and real-time regulation.
The length of the first fixing rod 20 extending into the connecting block 21 is adjusted to adjust the extending length of the upper backrest structure, the height of the connecting block 21 on the upright 15 is adjusted to adjust the position of the upper backrest structure in the height direction, the connecting block 21 is fixed with the first fixing rod 20 and the upright 15 through the fixing locking block structure 23, the third hand wheel 31 is rotated to enable the second adjusting rod 16 to rotate, the second worm wheel 26 forming a worm gear pair with the second adjusting rod 16 rotates, the gear 36 coaxial with the second worm wheel 26 rotates, the second fixing rod 2 is meshed with the gear to rotate, and then the length of the second fixing rod 24 extending into the lower backrest structure mounting hole 18 in the adjusting box 17 is adjusted, so that the extending length of the lower backrest structure in the direction of the second fixing rod 24 can be adjusted.
The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention, so that all equivalent changes or modifications of the structure, characteristics and principles described in the claims should be included in the scope of the present invention.
Claims (7)
1. The back connecting device for the lower limb rehabilitation robot is characterized by comprising a bottom structure connected with the lower limb rehabilitation robot, a middle structure which is arranged in the bottom structure and can move up and down, a connecting structure which is arranged on the middle structure, and an upper backrest structure and a lower backrest structure which are arranged on one side of the connecting structure, which is far away from the bottom structure, wherein the extending length of the upper backrest structure and the extending length of the lower backrest structure are adjustable, a screw (1) is vertically arranged in the middle of the bottom structure, a worm and gear pair is arranged at the top of the screw (1), a first worm wheel (32) is coaxial with the screw (1), a worm (33) is perpendicular to the screw (1), first hand wheels (2) are arranged at two ends of the worm (33), a moving block (3) matched with the screw (1) is sleeved on the screw (1), and the middle structure is fixedly connected with the moving block (3);
The connecting structure comprises a frame (9) fixedly connected with the middle structure, a first adjusting rod (10) provided with threads is transversely erected on the upper portion of the frame (9), the first adjusting rod (10) is rotationally connected with the frame (9), second hand wheels (11) are arranged at two ends of the first adjusting rod (10), a left leg fixing mechanism (12) and a right leg fixing mechanism (13) which are in threaded connection with the first adjusting rod (10) are arranged below the first adjusting rod (10), the left leg fixing mechanism (12) and the right leg fixing mechanism (13) are in sliding connection with a second guide rail (14) arranged in the frame (9), and threads on the left side and the right side of the first adjusting rod (10) are opposite in rotation direction;
the upper backrest structure is arranged on the upright rod (15), a lower backrest adjusting assembly connected with the lower backrest structure is arranged at the bottom end of the frame (9), the lower backrest adjusting assembly comprises a second adjusting rod (16) transversely connected with the frame (9) in a rotating mode, and an adjusting box (17) sleeved on the second adjusting rod (16) and fixedly connected with the frame (9), a second worm wheel (26) forming a worm gear pair with the second adjusting rod (16) and a vertical gear (36) coaxial with the second worm wheel (26) are arranged in the adjusting box (17), a lower backrest structure mounting hole (18) is formed in the gear (36), and a third hand wheel (31) is arranged at two ends of the second adjusting rod (16);
The middle structure comprises a panel (5) fixedly connected with the moving block (3), sliding block mechanisms (6) arranged on the left side and the right side of the panel (5) and a pulling block (7) arranged on the top of the panel (5), two first guide rails (8) are vertically arranged in the bottom structure, and the sliding block mechanisms (6) are in sliding connection with the first guide rails (8);
Pulleys (34) are arranged at the top end and the back of the bottom structure, counterweight ropes (35) are arranged through the pulleys (34) at the back and the top end of the bottom structure in sequence, and the counterweight ropes (35) are connected with the pull blocks (7);
the lower limb rehabilitation robot is formed by connecting a bottom layer structure in the back connecting device with a robot body and connecting a counterweight rope (35) penetrating through a pulley (34) with a suspension mechanism.
2. The back connecting device for the lower limb rehabilitation robot according to claim 1, wherein the upper end and the lower end of the screw rod (1) are rotatably connected with the bottom structure through bearings, guide rods (4) parallel to the screw rod are arranged on two sides of the screw rod (1), and the moving block (3) penetrates through the guide rods (4) and is in sliding connection with the guide rods.
3. The back connecting device for a lower limb rehabilitation robot according to claim 1, wherein the upper backrest structure comprises an upper backrest plate (19), a first fixing rod (20) vertically arranged behind the upper backrest plate (19), a connecting block (21) capable of adjusting the extending length of the first fixing rod (20) in the connecting block, an upper backrest structure mounting hole (22) arranged on the connecting block (21) and matched with the upright rod (15), and a fixing locking block structure (23) respectively arranged at the fixing position of the first fixing rod (20) and the connecting block (21) and the fixing position of the upright rod (15) and the connecting block (21).
4. A back connection device for a lower limb rehabilitation robot according to claim 3, wherein a sticky net (27) is arranged in the middle of the upper back board (19) and a strap ring (28) is arranged around the upper back board (19).
5. The back connection device for a lower limb rehabilitation robot according to claim 1, wherein the lower backrest structure comprises a second fixing rod (24) provided with threads on the side surface arranged in the lower backrest structure mounting hole (18) and a lower backrest plate (25) connected with the second fixing rod (24), and the side surface provided with threads of the second fixing rod (24) is meshed with the gear (36).
6. The back connection device for the lower limb rehabilitation robot according to claim 5, wherein an adhesive net (27) is arranged in the middle of the lower back board (25), a positioning rod (29) is arranged on the lower back board (25) parallel to the second fixing rod (24), and the positioning rod (29) is equal in length with the second fixing rod (24) and is inserted into the adjusting box (17).
7. The back connection device for a lower limb rehabilitation robot according to claim 1, wherein the side of the substructure is provided with an upper and lower limit structure (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490300.8A CN111789746B (en) | 2020-06-02 | 2020-06-02 | Back connection device for lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010490300.8A CN111789746B (en) | 2020-06-02 | 2020-06-02 | Back connection device for lower limb rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111789746A CN111789746A (en) | 2020-10-20 |
| CN111789746B true CN111789746B (en) | 2025-02-07 |
Family
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Family Applications (1)
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| CN112587371A (en) * | 2020-12-17 | 2021-04-02 | 中国工程物理研究院总体工程研究所 | Modular multiplexing device for rehabilitation exoskeleton robot |
| CN113181000B (en) * | 2021-04-15 | 2023-02-28 | 北航歌尔(潍坊)智能机器人有限公司 | Waist multi-degree-of-freedom mechanism of lower limb rehabilitation robot and lower limb rehabilitation robot |
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| CN101536955A (en) * | 2009-04-21 | 2009-09-23 | 清华大学 | Vertical follow-up type lightened walking rehabilitation training robot |
| CN111588595A (en) * | 2020-06-22 | 2020-08-28 | 深圳莱恩医学技术有限公司 | Intelligent rehabilitation robot for lower limb gait training |
| CN212466522U (en) * | 2020-06-02 | 2021-02-05 | 创世纪智能机器人(河南)有限公司 | Back connecting device for lower limb rehabilitation robot |
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| CN102335086B (en) * | 2011-06-10 | 2013-02-13 | 东北大学 | Six degree-of-freedom foot/leg type lower limb rehabilitation training robot and control method thereof |
| JP6357627B2 (en) * | 2014-01-30 | 2018-07-18 | 国立大学法人 筑波大学 | Wearable motion assist device |
| KR101602728B1 (en) * | 2014-08-25 | 2016-03-11 | 주식회사 바로텍시너지 | Legs rehabilitation robot capable of movable gait training and stationary gait training |
| RU2665116C1 (en) * | 2017-04-25 | 2018-08-28 | Российская Федерация, от имени которой выступает Федеральное государственное казенное учреждение "Войсковая часть 68240" (ФГКУ "В/Ч 68240") | Cargo exoskeleton with adjustment for anthropometric parameters of the user |
| CN208598755U (en) * | 2017-12-19 | 2019-03-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of lower limb robot both legs spacing stepless regulating mechanism |
| CN110251371A (en) * | 2019-06-20 | 2019-09-20 | 哈工大机器人（合肥）国际创新研究院 | A lower limb exoskeleton adjustable mounting frame, method and lower limb rehabilitation equipment |
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| CN101536955A (en) * | 2009-04-21 | 2009-09-23 | 清华大学 | Vertical follow-up type lightened walking rehabilitation training robot |
| CN212466522U (en) * | 2020-06-02 | 2021-02-05 | 创世纪智能机器人(河南)有限公司 | Back connecting device for lower limb rehabilitation robot |
| CN111588595A (en) * | 2020-06-22 | 2020-08-28 | 深圳莱恩医学技术有限公司 | Intelligent rehabilitation robot for lower limb gait training |
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